Push Door ACT
LeRobot ACT policy trained on jiangjy0508/push_door, a 40-episode LeRobotDataset v3.0 dataset for pushing a lightweight stall door with a RealMan ECO63F arm.
Revisions
Deployable checkpoints are available as tags:
005000, 010000, 015000, 020000, 025000, 030000, 035000, 040000, 045000, 050000.
The repository main revision contains checkpoint 050000. Offline held-out loss was lowest at 005000; select the final policy using real-robot closed-loop evaluation rather than training loss alone.
lerobot-rollout \
--policy.path=jiangjy0508/push_door_act \
--policy.pretrained_revision=005000 \
--robot.type=realman_eco63f \
--task="Push the door open" \
--fps=30 \
--device=cuda
realman_eco63f is custom hardware and requires a separately installed LeRobot Robot plugin.
Model contract
- Images:
cam_top,cam_wrist,cam_front, RGB 640×480 - State: 17 dimensions
- Force/torque: 6 dimensions
- Action: 7 dimensions, end-effector delta plus gripper
- Control frequency: 30 Hz
- ACT chunk size: 40; execution horizon: 10
Load the complete revision, including policy preprocessor and postprocessor files. Do not load model.safetensors alone.
Limitations
The gripper state and action are constant zero in the training dataset, so this model cannot operate a gripper. It is intended only for the direct push-door branch. Hardware safety filtering, force limits, workspace limits, collision detection, and emergency stop handling are required outside the learned policy.
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